From 82a160074a6056e590d218b3eecd3468375839d5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 23 Jul 2010 13:25:27 +0000 Subject: [PATCH] Removed the test from testGaussianFactor from an old MAST failure case - as it turns out, the system had inconsistent dimensions, which is why elimination crashed out. --- linear/tests/testGaussianFactor.cpp | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/linear/tests/testGaussianFactor.cpp b/linear/tests/testGaussianFactor.cpp index d975d9e9f..a60784813 100644 --- a/linear/tests/testGaussianFactor.cpp +++ b/linear/tests/testGaussianFactor.cpp @@ -427,35 +427,6 @@ TEST ( GaussianFactor, constraint_eliminate2 ) CHECK(assert_equal(expectedCG, *actualCG, 1e-4)); } -/* ************************************************************************* */ -TEST ( GaussianFactor, exploding_MAST_factor ) { - // Test derived from a crashing error in MAST - // Works properly with the newer elimination code - // This is only a test of execution without crashing - - Symbol lA2('l', 182958734); - Matrix A1 = eye(2); - Vector b1 = zero(2); - SharedDiagonal model1 = noiseModel::Isotropic::Sigma(2, 1.0/sqrt(2.0)); - GaussianFactor::shared_ptr f1(new GaussianFactor(lA2, A1, b1, model1)); - - Matrix A2 = Matrix_(3,3, - 5.45735, 1.94835, -1.68176, - 0, 10.2778, 0.973046, - 0, 0, 12.253); - Vector b2 = Vector_(3, 1.29627e-16, 5.14706e-16, 4.19527e-16); - SharedDiagonal model2 = noiseModel::Diagonal::Sigmas(ones(3)); - GaussianFactor::shared_ptr f2(new GaussianFactor(lA2, A2, b2, model2)); - - GaussianFactorGraph fg; - fg.push_back(f1); - fg.push_back(f2); - - // works when using the newer implementation of eliminate - GaussianConditional::shared_ptr cg = fg.eliminateOne(lA2, false); - CHECK(true); -} - /* ************************************************************************* */ TEST( GaussianFactor, erase) {